#include "RS485.h"
#include "main.h"
#include "stdarg.h"

#include "main_user.h"


stMcInfo mc_info;
volatile int16_t comm[6];



volatile uint8_t usart_dma_tx_over = 1;  //指示串口3的DMA发送完成
 
int myprintf(const char *format,...)   //定义串口1的DMA打印
{
  va_list arg;
  static char SendBuff[200] = {0};
  int rv;
  while(!usart_dma_tx_over);//等待前一次DMA发送完成
 
  va_start(arg,format);
  rv = vsnprintf((char*)SendBuff,sizeof(SendBuff)+1,(char*)format,arg);  
	//rv = vsnprintf((char*)U0_TxBuff,sizeof(U0_TxBuff)+1,(char*)format,arg);
  va_end(arg);
 
  //HAL_UART_Transmit_DMA(&huart1,(uint8_t *)U0_TxBuff,rv);
	usart_dma_tx_over = 0;//清0全局标志，发送完成后重新置1
	HAL_UART_Transmit_DMA(&huart3,(uint8_t *)SendBuff,rv);
 
  return rv;
}
 
 



// 切换到发送模式
void RS485_SetToSendMode(void)
{
    HAL_GPIO_WritePin(REN485_LED_GPIO_Port, REN485_LED_Pin, GPIO_PIN_SET); // 高电平：发送模式
}

// 切换到接收模式
void RS485_SetToReceiveMode(void)
{
    HAL_GPIO_WritePin(REN485_LED_GPIO_Port, REN485_LED_Pin, GPIO_PIN_RESET); // 低电平：接收模式
}

// 使用 DMA 发送数据
void RS485_SendData(uint8_t *data, uint16_t size)
{
    RS485_SetToSendMode(); // 切换到发送模式
    HAL_UART_Transmit_DMA(&huart3, data, size);
}

// 发送一个 uint32_t 类型的变量
void SendUint32(uint32_t value) {
    uint8_t data[4];
    
    // 将 uint32_t 类型的变量拆分成 4 个字节
    data[0] = (value >> 24) & 0xFF; // 高字节
    data[1] = (value >> 16) & 0xFF;
    data[2] = (value >> 8) & 0xFF;
    data[3] = value & 0xFF;          // 低字节

    // 调用 RS485 发送函数发送数据
    RS485_SendData(data, 4);
}

char str[12];  // 用于存储十进制字符串，uint32_t 最多 10 位数字，加上 '\0' 结束符，总共需要 11 个字符空间
// 发送一个 uint32_t 类型的变量，作为十进制字符串
void SendUint32AsDecimalString(uint32_t value) {
    

    // 将 uint32_t 变量转换为十进制字符串
    sprintf(str, "%u", value);  // %u 格式符表示无符号十进制整数

    // 调用 RS485 发送函数发送字符串
    RS485_SendData((uint8_t *)str, strlen(str));
}


// 接收数据（开启 DMA 接收）
void RS485_StartReceive(void)
{
    RS485_SetToReceiveMode(); // 切换到接收模式
    //HAL_UART_Receive_DMA(&huart3, aRxBuffer, sizeof(aRxBuffer)); // 开始接收数据
}




// 发送完成回调函数
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{
    if (huart->Instance == USART3)
    {
			  usart_dma_tx_over = 1;
        RS485_SetToReceiveMode(); // 发送完成后切换到接收模式
    }
}



// 接收完成回调函数
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)     //usart的接收中断回调函数
{
	 uint16_t crc_calc, crc_comm;
	 if (huart->Instance == USART3)
    {
        // 处理接收到的数据，此处简单地再次启动 DMA 接收
			  crc_comm = (aRxBuffer[6]<<8) + aRxBuffer[7];
				crc_calc = usMBCRC16(aRxBuffer, 6);
				if( crc_comm == crc_calc)
				{
					memcpy((void *)comm, aRxBuffer, 6);
				}
			
				RS485_StartReceive();
				
				HAL_UARTEx_ReceiveToIdle_DMA(&huart3, aRxBuffer, sizeof(aRxBuffer));  //开启串口3的DMA接收中断
	      __HAL_DMA_DISABLE_IT(&hdma_usart3_rx, DMA_IT_HT);  //取消接收数据过半中断
				
				
    }
}

//注意发送的数据量，如果发送数据过多，超出了串口波特率，那么会导致数据输出不完整，串口有数据输出但上位机无法正确接收的问题
void UploadData(stMcInfo *mc_info)   //进入1000次该函数，1000次发送的内容组成一帧完整的报文
{
	extern UART_HandleTypeDef huart3;
	extern TIM_HandleTypeDef htim3;
	static int16_t temp[15];
	static uint16_t time_count;

	RS485_SetToSendMode(); // 切换到发送模式
	
	if( time_count == 0)    //报文头
	{
		time_count++;
		temp[0] = *(int16_t*)"SS";
		temp[1] = mc_info->encoder_theta;
		temp[2] = mc_info->isens_a;
		temp[3] = mc_info->isens_b;
		__HAL_UNLOCK( huart3.hdmatx);
		huart3.gState = HAL_UART_STATE_READY;
		huart3.hdmatx->State = HAL_DMA_STATE_READY;
		HAL_UART_Transmit_DMA( &huart3, (uint8_t *)temp, 4*2);
	}
	else if( time_count == 999)       //报文尾
	{
		temp[0] = mc_info->encoder_theta;
		temp[1] = mc_info->isens_a;
		temp[2] = mc_info->isens_b;
		temp[3] = *(int16_t*)"EE";
		__HAL_UNLOCK( huart3.hdmatx);
		huart3.gState = HAL_UART_STATE_READY;
		huart3.hdmatx->State = HAL_DMA_STATE_READY;
		HAL_UART_Transmit_DMA( &huart3, (uint8_t *)temp, 4*2);
		time_count = 0;
	}
	else                                   //报文内容
	{
		time_count++;
		temp[0] = mc_info->encoder_theta;
		temp[1] = mc_info->isens_a;
		temp[2] = mc_info->isens_b;
		__HAL_UNLOCK( huart3.hdmatx);
		huart3.gState = HAL_UART_STATE_READY;
		huart3.hdmatx->State = HAL_DMA_STATE_READY;
		HAL_UART_Transmit_DMA( &huart3, (uint8_t *)temp, 3*2);
	}
}


/********* Modbus crc16 ***************/

static const unsigned char aucCRCHi[] = {
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 
    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
    0x00, 0xC1, 0x81, 0x40
};

static const unsigned char aucCRCLo[] = {
    0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
    0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E,
    0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9,
    0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
    0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
    0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
    0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
    0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 
    0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF,
    0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
    0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
    0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
    0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 
    0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
    0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
    0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
    0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97,
    0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E,
    0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89,
    0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
    0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
    0x41, 0x81, 0x80, 0x40
};

unsigned short usMBCRC16( unsigned char * pucFrame, unsigned short usLen )
{
    unsigned char           ucCRCHi = 0xFF;
    unsigned char           ucCRCLo = 0xFF;
    int             iIndex;

    while( usLen-- )
    {
        iIndex = ucCRCLo ^ *( pucFrame++ );
        ucCRCLo = ( unsigned char )( ucCRCHi ^ aucCRCHi[iIndex] );
        ucCRCHi = aucCRCLo[iIndex];
    }
    return ( unsigned short )( ucCRCHi << 8 | ucCRCLo );
}
